CN103149560B - Calibrating method for CCD (Charge Coupled Device) imaging lateral laser radar - Google Patents
Calibrating method for CCD (Charge Coupled Device) imaging lateral laser radar Download PDFInfo
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- CN103149560B CN103149560B CN201310084291.2A CN201310084291A CN103149560B CN 103149560 B CN103149560 B CN 103149560B CN 201310084291 A CN201310084291 A CN 201310084291A CN 103149560 B CN103149560 B CN 103149560B
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Abstract
The invention discloses a calibrating method for a CCD (Charge Coupled Device) imaging lateral laser radar. The method comprises the following steps of: enabling an optical axis (1) of a CCD camera to be vertical to the plane of a calibration table (2), firstly acquiring a CCD image of the calibration table (2) by use of the CCD camera (3), and then calculating the offset angle (alpha) and angle width (d alpha) of each pixel according to a table number in the CCD image of the calibration table (2) and a pixel number with a same dimension as the table number increment in the table; and after placing the CCD camera (3) at the lateral adjacent part of an emitted light beam (5) of the laser radar, firstly determining the vertical distance(D) between the CCD camera (3) and the emitted light beam (5) of the laser radar by adopting a three-point positioning method, then substituting the offset angle (alpha) and angle width (d alpha) of each pixel as well as the vertical distance (D) between the CCD camera (3) and the emitted light beam (5) of the laser radar into a lateral laser radar equation P(alpha)=P0KA/D *TtTrbeta(alpha)dalpha, and performing inversion calculation by use of the offset angles (alpha), the angle widths (d alpha) and the vertical distance (D) so as to obtain atmospheric parameters. The calibrating method disclosed by the invention is high in measurement accuracy and wide in application range, and can be widely used for measuring the spatial distribution of atmospheric aerosol of a surface layer.
Description
Technical field
The present invention relates to a kind of scaling method of laser radar, especially a kind of scaling method of CCD imaging side direction laser radar.
Background technology
At present, people, in order to realize the measurement to atmospheric visibility or extinction coefficient, often use laser radar.If Chinese invention patent application CN102621102A is in a kind of " measuring method of the horizontal visibility based on CCD laser radar " of announcement on August 1st, 2012.This application for a patent for invention document discloses a kind ofly take continuous laser as transmitting illuminant, utilize optics receiving-member that ccd video camera and optical filter compose in series to receive from the laser echo signal in several kilometers, by computing machine, return laser beam image is carried out to analyzing and processing, obtain atmospheric extinction coefficient, thereby obtain the size of atmospheric horizontal visibility.But this measuring method exists shortcoming part, first, require ccd video camera to become minute angle with laser instrument, the just rear orientation light of laser in atmosphere that CCD receives, makes it be only applicable to the measurement of approximate 180 degree in laser light scattering angle; Secondly, though proofread and correct by geometric distance, obtained laser echo signal with the distribution in different distance, but for ccd video camera, by a plurality of pixels, do not formed, it is not identical feature that light scattering is mapped to light beam incident subtended angle in different pixels, carry out the calibration of the corresponding subtended angle size of different pixels, make the result of measuring exist certain error; Finally, only the atmospheric extinction coefficient that surface water square makes progress can be measured, the atmospheric extinction coefficient of differing heights can not be recorded.
Summary of the invention
The technical problem to be solved in the present invention is for overcoming shortcoming part of the prior art, and a kind of scaling method of measuring laser lateral scattering light signal and the little CCD imaging side direction laser radar of error is provided.
For solving technical matters of the present invention, the technical scheme adopting is: the scaling method of CCD imaging side direction laser radar comprises and utilize CCD imaging technique to obtain the scattered light signal of laser in atmosphere, and particularly completing steps is as follows:
Step 1, after CCD camera optical axis is vertical with the plane of calibrating form, first use CCD camera to obtain the ccd image of calibration form, then in the numbering of form and this form, with the numbering of one dimension pixel, calculate drift angle and the angular breadth of each pixel with form numbering increment in the ccd image of calibration form;
Step 2, the side that CCD camera is placed in to laser radar transmitting light beam nearby after, first adopt three-point fox method to determine the vertical range of CCD camera and laser radar transmitting light beam, then by the vertical range substitution side direction laser radar equation of the drift angle of each pixel, angular breadth and CCD camera and laser radar transmitting light beam
among, the signal intensity that the P in equation (α) receives for respective pixel in the direction of α drift angle, P
0for the power of laser radar transmitting light beam, the optical transmittance that K is receiving system, the useful area that A is optical system, D is the vertical range of CCD camera and laser radar transmitting light beam, T
t, T
rbe respectively the transmitance on laser radar transmitting light beam vertical direction and tilted direction, β (α) is lateral scattering coefficient, and the angular breadth that d α is pixel goes out atmospheric parameter by its Inversion Calculation.
As the further improvement of the scaling method of CCD imaging side direction laser radar, the subtended angle of described CCD camera is 60～120 degree; Described CCD camera is 5～10m with the vertical range of calibration form; Described calibration form is single file form; Form in described single file form is that the length of side is the chequered with black and white square form of 1cm; Described three-point fox method is for successively by formula
with
realize, in formula, h is that CCD camera to intersection point point and the laser radar of laser radar transmitting light beam launched the distance between the first reference point on light beam, r
2for the distance between the second reference point on CCD camera and laser radar transmitting light beam, r
1for the distance between the first reference point on CCD camera and laser radar transmitting light beam, d is the distance between the first reference point and the second reference point on laser radar transmitting light beam, and D is the vertical range that CCD camera and laser radar are launched light beam; Described while realizing three-point fox method, CCD camera is placed on longitude and latitude surveying instrument, and uses range finder using laser to measure respectively the distance between the first reference point and CCD camera on CCD camera and laser radar transmitting light beam and launch the distance between the second reference point on light beam with laser radar; The vertical range of described CCD camera and laser radar transmitting light beam is 10～200m.
Beneficial effect with respect to prior art is, this scaling method is utilizing CCD imaging technique to obtain on the basis of the scattered light signal of laser in atmosphere, first magazine each pixel of CCD is calibrated, to draw drift angle and the angular breadth of each pixel, the side that again CCD camera is placed in to laser radar transmitting light beam nearby after, adopt three-point fox method to determine the vertical range of CCD camera and laser radar transmitting light beam, so that by the vertical range substitution side direction laser radar equation of the drift angle of each pixel, angular breadth and CCD camera and laser radar transmitting light beam
among, its Inversion Calculation of cause goes out the technical scheme of atmospheric parameter, both because the subtended angle size to CCD pixel has been carried out accurate calibration, thereby the error of having avoided the difference because of the corresponding subtended angle of different pixels to cause has been guaranteed in the precision of carrying out geometric distance timing; Because the angle between CCD camera and laser radar light beam can be chosen arbitrarily, therefore it can receive the laser lateral scattering signal on any scattering angle, improved widely applicable scope again; Also can not only measure the atmospheric extinction coefficient that surface water square makes progress, also can measure the atmospheric extinction coefficient of differing heights; What more receive due to CCD camera is side scattered light, has avoided the impact of geometric factor in back scattering laser radar, and it is greatly improved in the measuring accuracy of section closely; What use is side direction technology in addition, and its spatial resolution, closely section is also very high, is very suitable for for measuring the space distribution of the atmospheric aerosol of surface layer it.
As the further embodiment of beneficial effect, the subtended angle of the one, CCD camera is preferably 60～120 degree, is guaranteeing, under the situation of measuring accuracy, to be convenient to the implementation of this method.The 2nd, CCD camera is preferably 5～10m with the vertical range of calibration form, has guaranteed the precision of calibration with as far as possible little distance.The 3rd, calibration form is preferably single file form, and the form in single file form is preferably the chequered with black and white square form that the length of side is 1cm, is beneficial to quickly and easily CCD camera is calibrated.The 4th, three-point fox method is preferably successively by formula
with
realize, in formula, h is that CCD camera to intersection point point and the laser radar of laser radar transmitting light beam launched the distance between the first reference point on light beam, r
2for the distance between the second reference point on CCD camera and laser radar transmitting light beam, r
1for the distance between the first reference point on CCD camera and laser radar transmitting light beam, d is the distance between the first reference point and the second reference point on laser radar transmitting light beam, D is the vertical range of CCD camera and laser radar transmitting light beam, is beneficial to the vertical range of determining as soon as possible CCD camera and laser radar transmitting light beam.The 5th, while realizing three-point fox method, preferably CCD camera is placed on longitude and latitude surveying instrument, and use range finder using laser to measure respectively the distance between the first reference point and CCD camera on CCD camera and laser radar transmitting light beam and launch the distance between the second reference point on light beam with laser radar, be suitable for measuring quickly each required data.The vertical range of the 6th, CCD camera and laser radar transmitting light beam is preferably 10～200m, has met the requirement to measuring accuracy completely.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, optimal way of the present invention is described in further detail.
Fig. 1 is position---a kind of calibration schematic diagram that calibration form demarcate of the present invention to the magazine pixel of CCD and laser radar transmitting light beam.
Fig. 2 is a kind of basic structure schematic diagram of implementing when of the present invention.
Fig. 3 adopts three-point fox method to determine a kind of three-point fix technology schematic diagram of the vertical range of CCD camera and laser radar transmitting light beam.
Embodiment
Referring to Fig. 1, Fig. 2 and Fig. 3, the scaling method of CCD imaging side direction laser radar is as follows:
Step 1, the plane of CCD camera optical axis 1 and calibration form 2 is vertical after, first use CCD camera 3 to obtain to calibrate the ccd image of form 2; Wherein, the subtended angle 6 of CCD camera 3 can be 60～120 for 90() degree, CCD camera 3 is that 5(can be 5～10 with the vertical range of calibration form 2) m, and calibration form 2 is single file form, form is wherein that the length of side is the chequered with black and white square form of 1cm.In the ccd image of calibration form 2, in the numbering of form and this form, with the numbering of one dimension pixel, calculate drift angle α and the angular breadth d α of each pixel with form numbering increment again.
Step 2, the side that CCD camera 3 is placed in to laser radar transmitting light beam 5 nearby after, first adopt three-point fox method to determine the vertical range D of CCD camera 3 and laser radar transmitting light beam 5; Wherein, three-point fox method is for successively by formula
with
realize, the h in formula is that CCD camera 3 to intersection point point 7 and the laser radar of laser radar transmitting light beam 5 launched the distance between the first reference point 8 on light beam 5, r
2for the distance between the second reference point 9 on CCD camera 3 and laser radar transmitting light beam 5, r
1for the distance between the first reference point 8 on CCD camera 3 and laser radar transmitting light beam 5, d is the distance between the first reference point 8 and the second reference point 9 on laser radar transmitting light beam 5, and D is the vertical range that CCD camera 3 and laser radar are launched light beam 5.While realizing three-point fox method, CCD camera 3 is placed on longitude and latitude surveying instrument, and uses range finder using laser to measure respectively the distance r between the first reference point 8 on CCD camera 3 and laser radar transmitting light beam 5
1and the distance r between the second reference point 9 on CCD camera 3 and laser radar transmitting light beam 5
2.After the scattered light signal of the laser that recycling CCD imaging technique obtains laser instrument 4 transmittings in laser radar system in atmosphere, the vertical range D substitution side direction laser radar equation by the drift angle α of each pixel, angular breadth d α and CCD camera 3 with laser radar transmitting light beam 5
among, the signal intensity that the P in equation (α) receives for respective pixel in the direction of α drift angle, P
0for the power of laser radar transmitting light beam 5, the optical transmittance that K is receiving system, the useful area that A is optical system, D is the vertical range that CCD camera 3 and laser radar are launched light beam 5, T
t, T
rbe respectively the transmitance on laser radar transmitting light beam 5 vertical directions and tilted direction, β (α) is lateral scattering coefficient, d α is the angular breadth of pixel, by its Inversion Calculation, goes out atmospheric parameter, obtains extinction coefficient, visibility and lateral scattering coefficient etc. as atmosphere.
If CCD camera 3 is chosen to be 10～200m with the vertical range D of laser radar transmitting light beam 5, when the subtended angle 6 of CCD camera 3 is 90 while spending, the scope of the observable laser radar transmitting of CCD camera 3 light beam 5 can be 0～5000m.
Obviously, those skilled in the art can carry out various changes and modification and not depart from the spirit and scope of the present invention the scaling method of CCD imaging side direction laser radar of the present invention.Like this, if of the present invention these are revised and within modification belongs to the scope of the claims in the present invention and equivalent technologies thereof, the present invention is also intended to comprise these changes and modification interior.
Claims (8)
1. a scaling method for CCD imaging side direction laser radar, comprises and utilizes CCD imaging technique to obtain the scattered light signal of laser in atmosphere, it is characterized in that completing steps is as follows:
Step 1, after CCD camera optical axis (1) is vertical with the plane of calibrating form (2), first use CCD camera (3) to obtain the ccd image of calibration form (2), then in the numbering of form and this form, with the numbering of one dimension pixel, calculate drift angle (α) and the angular breadth (d α) of each pixel with form numbering increment in the ccd image of calibration form (2);
Step 2, the side that CCD camera (3) is placed in to laser radar transmitting light beam (5) nearby after, first adopt three-point fox method to determine the vertical range (D) that CCD camera (3) and laser radar are launched light beam (5), then the drift angle of each pixel (α), angular breadth (d α) and CCD camera (3) and laser radar are launched to vertical range (D) the substitution side direction laser radar equation of light beam (5)
among, the signal intensity that the P in equation (α) receives for respective pixel in the direction of α drift angle, P
0for the power of laser radar transmitting light beam (5), the optical transmittance that K is receiving system, the useful area that A is optical system, D is the vertical range that CCD camera (3) and laser radar are launched light beam (5), T
t, T
rbe respectively the transmitance on laser radar transmitting light beam (5) vertical direction and tilted direction, β (α) is lateral scattering coefficient, and the angular breadth that d α is pixel goes out atmospheric parameter by its Inversion Calculation.
2. the scaling method of CCD imaging side direction laser radar according to claim 1, the subtended angle (6) that it is characterized in that CCD camera (3) is 60～120 degree.
3. the scaling method of CCD imaging side direction laser radar according to claim 1, is characterized in that CCD camera (3) and the vertical range of calibration form (2) are 5～10m.
4. the scaling method of CCD imaging side direction laser radar according to claim 1, it is characterized in that calibrating form (2) is single file form.
5. the scaling method of CCD imaging side direction laser radar according to claim 4, is characterized in that the form in single file form is that the length of side is the chequered with black and white square form of 1cm.
6. the scaling method of CCD imaging side direction laser radar according to claim 1, is characterized in that three-point fox method is for successively by formula
with
realize, in formula, h is that CCD camera (3) is to the intersection point point (7) of laser radar transmitting light beam (5) and the distance between laser radar transmitting light beam (5) upper the first reference point (8), r
2for the distance between CCD camera (3) and laser radar transmitting light beam (5) upper the second reference point (9), r
1for the distance between CCD camera (3) and laser radar transmitting light beam (5) upper the first reference point (8), d is the distance between laser radar transmitting light beam (5) upper the first reference point (8) and the second reference point (9), and D is the vertical range that CCD camera (3) and laser radar are launched light beam (5).
7. the scaling method of CCD imaging side direction laser radar according to claim 6, while it is characterized in that realizing three-point fox method, CCD camera (3) is placed on longitude and latitude surveying instrument, and uses range finder using laser to measure respectively the distance (r between CCD camera (3) and laser radar transmitting light beam (5) upper the first reference point (8)
1) and CCD camera (3) and laser radar transmitting light beam (5) upper the second reference point (9) between distance (r
2).
8. the scaling method of CCD imaging side direction laser radar according to claim 1, is characterized in that CCD camera (3) and the vertical range (D) of laser radar transmitting light beam (5) are 10～200m.
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| CN103344611B (en) * | 2013-07-16 | 2015-07-01 | 中国人民解放军陆军军官学院 | Method for measuring aerosol parameters by lateral laser radar based on CCD (charge-coupled device) imaging technology |
| CN103837869B (en) * | 2014-02-26 | 2016-06-01 | 北京工业大学 | Based on single line laser radar and the CCD camera scaling method of vector relations |
| CN104007088B (en) * | 2014-06-16 | 2016-03-30 | 中国人民解放军陆军军官学院 | The measuring method of back scattering laser radar geometric factor |
| CN104536058B (en) * | 2015-01-08 | 2017-05-31 | 西安费斯达自动化工程有限公司 | Image/Laser/Radar range finding airfield runway foreign matter monitoring integral system |
| CN104792672A (en) * | 2015-03-26 | 2015-07-22 | 中国人民解放军陆军军官学院 | Height distribution detection device and method for PM2.5 mass concentration |
| CN105137414B (en) * | 2015-07-23 | 2017-10-24 | 中国人民解放军陆军军官学院 | A kind of measurement apparatus for lateral lidar measurement aerosol parameters |
| CN105158230A (en) * | 2015-09-08 | 2015-12-16 | 中国科学院合肥物质科学研究院 | Device for measuring polluting gases in atmospheric boundary layer based on CCD (Charge Coupled Device) imaging laser radar |
| CN106569228B (en) * | 2016-11-15 | 2019-04-05 | 中国科学院合肥物质科学研究院 | Atmosphere depolarization profile detection device from the side CCD to laser radar detection method |
| CN110553605B (en) * | 2019-09-18 | 2021-05-04 | 苏州华兴源创科技股份有限公司 | System and method for measuring deflection angle error of laser radar |
| CN111427027A (en) * | 2020-03-09 | 2020-07-17 | 深圳市镭神智能系统有限公司 | Method, device and system for calibrating multi-line laser radar |
| CN111337909B (en) * | 2020-03-30 | 2022-03-04 | 苏州华兴源创科技股份有限公司 | Double-parallel-surface zero calibration system and method based on laser radar detection system |
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